GS-CPE: Unified 6-Degree-of-Freedom Camera Pose Estimation via 3D Gaussian Splatting
Despite substantial progress in visual localization, from scene coordinate regression to direct camera pose regression, achieving both robust generalization and high accuracy remain challenging. This study introduces GS-CPE (Gaussian Splatting based Camera Pose Estimation), a coarse-to-fine framework for 6-DoF camera pose estimation that unifies geometry-based coarse pose estimation with robust 3D Gaussian Splatting (3DGS) warping based pose refinement. GS-CPE first estimates a coarse pose via retrieval-guided geometric pose estimation on a 3DGS scene representation, then refines it by minimizing a visibility aware masked RGB warping objective in a multi-scale optimization framework, with...
| Authors | Huaiyuan Weng, Chul Min Yeum, Su-Min Kang |
|---|---|
| Primary category | cs.CV |
| Published | 11 August 2026 |
| Last updated at source | 18 August 2026 |
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